EP3636393A4 - Robot médical et procédé de commande associé - Google Patents

Robot médical et procédé de commande associé Download PDF

Info

Publication number
EP3636393A4
EP3636393A4 EP18814316.8A EP18814316A EP3636393A4 EP 3636393 A4 EP3636393 A4 EP 3636393A4 EP 18814316 A EP18814316 A EP 18814316A EP 3636393 A4 EP3636393 A4 EP 3636393A4
Authority
EP
European Patent Office
Prior art keywords
control method
medical robot
robot
medical
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18814316.8A
Other languages
German (de)
English (en)
Other versions
EP3636393B1 (fr
EP3636393A1 (fr
Inventor
Yunlei SHI
Chao He
Jiayin Wang
Xiang Zhu
Shuai YUAN
Yizhi JIANG
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Microport Medbot Group Co Ltd
Original Assignee
Microport Shanghai Medbot Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Microport Shanghai Medbot Co Ltd filed Critical Microport Shanghai Medbot Co Ltd
Publication of EP3636393A1 publication Critical patent/EP3636393A1/fr
Publication of EP3636393A4 publication Critical patent/EP3636393A4/fr
Application granted granted Critical
Publication of EP3636393B1 publication Critical patent/EP3636393B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Programme controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • B25J9/1676—Avoiding collision or forbidden zones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36429—Power assisted positioning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36432—By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39339—Admittance control, admittance is tip speed-force
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
EP18814316.8A 2017-06-09 2018-06-08 Robot médical et procédé de commande associé Active EP3636393B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710432983.XA CN107009363A (zh) 2017-06-09 2017-06-09 医疗机器人及其控制方法
PCT/CN2018/090441 WO2018224038A1 (fr) 2017-06-09 2018-06-08 Robot médical et procédé de commande associé

Publications (3)

Publication Number Publication Date
EP3636393A1 EP3636393A1 (fr) 2020-04-15
EP3636393A4 true EP3636393A4 (fr) 2020-06-17
EP3636393B1 EP3636393B1 (fr) 2023-05-31

Family

ID=59452724

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18814316.8A Active EP3636393B1 (fr) 2017-06-09 2018-06-08 Robot médical et procédé de commande associé

Country Status (4)

Country Link
EP (1) EP3636393B1 (fr)
CN (2) CN107009363A (fr)
BR (1) BR112019025712B1 (fr)
WO (1) WO2018224038A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107009363A (zh) * 2017-06-09 2017-08-04 微创（上海）医疗机器人有限公司 医疗机器人及其控制方法
CN107717994B (zh) * 2017-11-08 2020-04-28 西安交通大学 基于主从空间映射的主从异构机器人通用控制方法及系统
CN108344420A (zh) * 2018-02-22 2018-07-31 王昕� 一种经颅磁刺激智能导航定位装置
CN108433814B (zh) * 2018-03-16 2019-12-24 微创（上海）医疗机器人有限公司 手术机器人系统及其手术器械
CN110026984A (zh) * 2019-05-08 2019-07-19 苏州东控自动化科技有限公司 一种基于大功率输出机器人的智能协作控制方法
CN110115636B (zh) * 2019-06-28 2022-08-26 盐城诺诚祈瑞智能科技有限公司 一种增稳防抖式外科手术仪
CN110653821B (zh) * 2019-10-10 2023-03-24 上海电气集团股份有限公司 用于机械臂的控制方法、系统、介质及设备
CN111515951A (zh) * 2020-04-29 2020-08-11 江苏集萃华科智能装备科技有限公司 机器人的遥操作系统及遥操作控制方法
CN111700681B (zh) * 2020-05-27 2021-05-14 元化智能科技(深圳)有限公司 安全截骨提示信息的生成方法、装置和终端设备
CN113040915B (zh) * 2021-03-12 2024-06-04 杭州柳叶刀机器人有限公司 机器人安全边界控制装置及方法、电子设备和存储介质
CN112998863B (zh) * 2021-03-12 2022-05-06 杭州柳叶刀机器人有限公司 机器人安全边界交互装置、电子设备和存储介质
CN112959327B (zh) * 2021-03-31 2022-07-29 上海电气集团股份有限公司 机器人运动控制方法、系统、电子设备及存储介质
CN113876429B (zh) * 2021-06-23 2023-01-20 上海极睿医疗科技有限公司 脊柱手术机器人的路径规划系统及机器人系统
CN114145848B (zh) * 2021-12-09 2023-08-25 佗道医疗科技有限公司 一种受约束的机械臂零力控制系统及其控制方法
CN114770459B (zh) * 2022-05-18 2023-12-08 佗道医疗科技有限公司 一种主控制臂运动控制方法
CN115363768B (zh) * 2022-10-27 2023-04-14 北京唯迈医疗设备有限公司 一种介入手术机器人系统及其控制方法和介质
CN116687320B (zh) * 2023-08-07 2023-10-24 深圳英美达医疗技术有限公司 一种医疗器械控制装置
CN116852397B (zh) * 2023-09-01 2023-11-21 北京凌波澄机器人科技有限公司 负压理疗机器人理疗力度及理疗路径的自适应调节方法

Citations (1)

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Publication number Priority date Publication date Assignee Title
WO2002060653A2 (fr) * 2001-01-29 2002-08-08 The Acrobot Company Limited Robots a action limitee

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US5971976A (en) * 1996-02-20 1999-10-26 Computer Motion, Inc. Motion minimization and compensation system for use in surgical procedures
US9492235B2 (en) * 1999-09-17 2016-11-15 Intuitive Surgical Operations, Inc. Manipulator arm-to-patient collision avoidance using a null-space
CN101448467B (zh) * 2006-05-19 2014-07-09 马科外科公司 用于控制触觉设备的方法和装置
CN101369132B (zh) * 2008-07-11 2011-01-19 天津大学 基于神经网络辨识器的永磁球形电动机力学解耦控制方法
KR101039108B1 (ko) * 2009-09-01 2011-06-07 한양대학교 산학협력단 의료용 로봇 시스템 및 그 제어 방법
JP2011254975A (ja) * 2010-06-09 2011-12-22 Nakashima Medical Co Ltd 手術支援システム
KR101806195B1 (ko) 2012-07-10 2018-01-11 큐렉소 주식회사 수술로봇 시스템 및 수술로봇 제어방법
CN103213129B (zh) * 2013-04-17 2015-04-22 北京空间飞行器总体设计部 一种空间机械臂位置力混合控制方法
DE102014224123B4 (de) * 2014-11-26 2018-10-25 Kuka Roboter Gmbh Verfahren zum Betreiben eines robotischen Gerätes und robotisches Gerät
CN107009363A (zh) * 2017-06-09 2017-08-04 微创（上海）医疗机器人有限公司 医疗机器人及其控制方法

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WO2002060653A2 (fr) * 2001-01-29 2002-08-08 The Acrobot Company Limited Robots a action limitee

Non-Patent Citations (2)

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HO S C ET AL: "ROBOT ASSISTED KNEE SURGERY. ÖESTABLISHING A FORCE CONTROL STRATEGY INCORPORATING ACTIVE MOTION CONSTRAINT", IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE, IEEE SERVICE CENTER, PISACATAWAY, NJ, US, vol. 14, no. 3, 1 May 1995 (1995-05-01), pages 292 - 300, XP000505085, ISSN: 0739-5175, DOI: 10.1109/51.391774 *
See also references of WO2018224038A1 *

Also Published As

Publication number Publication date
EP3636393B1 (fr) 2023-05-31
WO2018224038A1 (fr) 2018-12-13
CN108748153A (zh) 2018-11-06
EP3636393A1 (fr) 2020-04-15
CN108748153B (zh) 2020-12-18
BR112019025712B1 (pt) 2024-02-20
BR112019025712A2 (pt) 2020-09-01
CN107009363A (zh) 2017-08-04

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